Design of a Fully Actuated Robotic Hand With Multiple Gelsight Tactile Sensors
This work addresses robotic manipulation challenges by providing a multi-modal sensing gripper for improved grasp and in-hand manipulation, though it appears incremental as it builds on existing Gelsight technology.
The paper tackled the problem of robotic grasping by designing a fully actuated two-finger gripper with multiple Gelsight tactile sensors, enabling simultaneous surface topology sensing from multiple views and tracking of shear and tensile stress, along with thermal, acoustic, and vibration information.
This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from multiple views simultaneously as well as can track the shear and tensile stress. In addition, other sensing modalities enable the hand to gather the thermal, acoustic and vibration information from the object being grasped. The force controlled gripper is fully actuated so that it can be used for various grasp configurations and can also be used for in-hand manipulation tasks. Here we present the design of such a gripper.